Dinova

ROS software stack for Dinova (dingo + kinova).

Requirements installation via pip

    pip install -r requirements.txt

The only dependency is forwardkinematics, this is needed to provide the link names and number of links for the topics corresponding to the forward kinematics of the robot. In addition, if you want to re-generate the cpp-based FK files, this package needs to be used within roslaunch dinova_generate_fk.launch.

Running a real robot

Turn off default ros packages by Clearpath

sudo systemctl stop ros.service

To launch the control interface for Dinova:

roslaunch dinova_bringup dinova.launch

To launch the control interface for Dingo:

roslaunch dinova_bringup dingo.launch

To launch the control interface for Kinova:

roslaunch dinova_bringup kinova.launch

Running a real robot with Vicon

The default config for Vicon consists of the robot and the mug1 object. To change it, you need to modify the launch file in an appropriate launch file within the dinova_bringup package.

To launch the control interface for Dinova with Vicon:

roslaunch dinova_bringup dinova.launch

To launch the control interface for Dingo with Vicon:

roslaunch dinova_bringup dingo.launch

To launch the control interface for Dinova with Vicon and an (unactive) lidar-stack:

roslaunch dinova_bringup dinova.launch lidar:=true

Description

1. dinova_bringup -> Contains launch files for controlling Dinova, Kinova and Dingo.
2. dinova_control -> Contains ROS driver for Kinova and the node that collects states from all robots. For more information here.
3. dinova_description -> URDF files for Dinova, Kinova and Dingo. For more information here.
4. dinova_gazebo -> Gazebo package for simulating Dinova, Kinova and Dingo. For more information here.

Sensors

• Lidar Velodyne VLP16

TODO:

1. Vicon node is missing
2. Gripper_driver